Related papers: Manual, Semi or Fully Autonomous Flipper Control? …
In this paper we explore state-of-the-art underactuated, compliant robot gripper designs through looking at their performance on a generic grasping task. Starting from a state of the art open gripper design, we propose design…
Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study…
Recent years have seen significant progress in the realm of robot autonomy, accompanied by the expanding reach of robotic technologies. However, the emergence of new deployment domains brings unprecedented challenges in ensuring safe…
The purpose of this paper is to develop a shared control takeover strategy for smooth and safety control transition from an automation driving system to the human driver and to approve its positive impacts on drivers' behavior and…
Shared autonomy is an operational concept in which a user and an autonomous agent collaboratively control a robotic system. It provides a number of advantages over the extremes of full-teleoperation and full-autonomy in many settings.…
Shared control schemes allow a human driver to work with an automated driving agent in driver-vehicle systems while retaining the driver's abilities to control. The human driver, as an essential agent in the driver-vehicle shared control…
This chapter focuses on the self-driving technology from a control perspective and investigates the control strategies used in autonomous vehicles and advanced driver-assistance systems from both theoretical and practical viewpoints. First,…
Shared steering control has been developed to reduce driver workload while keeping the driver in the control loop. A driver could integrate visual sensory information from the road ahead and haptic sensory information from the steering…
In recent years, both reinforcement learning and learning-based control -- as well as the study of their safety, which is crucial for deployment in real-world robots -- have gained significant traction. However, to adequately gauge the…
This paper presents the comparison of two non-linear model-based control strategies for autonomous cars. A control oriented model of vehicle based on a bicycle model is used. The two control strategies use a model reference approach. Using…
Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is…
This letter considers control of a radially symmetric tripedal friction-driven robot. The robot features 3 servo motors mounted on a 3-D printed chassis 7 cm from the center of mass and separated 120 degrees. These motors drive limbs, which…
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
The growing need to automate processes in industrial settings has led to tremendous growth in the robotic systems and especially the robotic arms. The paper assumes the design, modeling and control of a robotic arm to suit industrial…
Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
Recently, researchers have made significant progress combining the advances in deep learning for learning feature representations with reinforcement learning. Some notable examples include training agents to play Atari games based on raw…
Human manipulation skills represent a pinnacle of their voluntary motor functions, requiring the coordination of many degrees of freedom and processing of high-dimensional sensor input to achieve remarkable dexterity. Thus, we set out to…
Roboticists have been seeking to address this situation in recent years through the use of soft robots. Unfortunately, identifying appropriate models for the complete analysis and investigation of soft robots for design and control purposes…
Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It depends on some physical parameters, like cornering…